Vibration-free movement of deformable beams by robot manipulator

Passive approaches for vibration-free handling of deformable beams are investigated. Dynamic equations are formulated. Trajectory plannings of the end-effector which lead to a small vibration of the beam in three-motion patterns are specified. Since vibrations cannot be totally eliminated, another passive approach, which uses a rubber pad in parallel with a spring installed on the fingers of the end-effector, is suggested. To understand the effectiveness of this passive approach, damped vibration and optimal damping are studied. Two experiments are conducted to verify the above methods